#include "fifter.h"

int16 GyroY,GyroYLast,GyroZ,GyroZLast;
int16 sum_gyro_z,gyro_offest_z;
float GyroZ_angle;
void ICM20602fifter_deal()
{
    GyroZLast=GyroZ;
    GyroZ = (icm_gyro_z-7)*10/164;
    GyroZ = GyroZ * 0.8 + GyroZLast * 0.2;
}
